Passive shock-absorption elastic element for flexible robot joint

Abstract

The invention discloses a passive shock-absorption elastic element for a flexible robot joint, and belongs to the field of shock-absorption elements. According to the passive shock-absorption elasticelement for the flexible robot joint, an inner ring friction-reduction bushing and an outer ring friction-reduction bushing are arranged between an inner ring and an outer ring; in the rotating process of the robot joint, friction-reduction fine particles in the inner ring friction-reduction bushing are rapidly transferred to the surfaces of balls through speed-control blocks under the effect of irregular elastic balls, so that the friction force between the outer ring friction-reduction bushing and the inner ring friction-reduction bushing is effectively reduced, the stability of the elasticelement is improved, blockage caused during rotation is effectively reduced, and the control precision of a robot is improved; meanwhile, after balls are worn after long-time use, liquid outflow in two directions is prevented; on one hand, rapid lubrication can be achieved, and the friction is reduced; and on the other hand, fluorescent liquid flowing out can emit light to effectively remind workers that the balls are worn, and then the workers can repair or change the balls in time.

Description

technical field [0001] The invention relates to the field of vibration-damping elements, more specifically, to passive vibration-damping elastic elements based on flexible robot joints. Background technique [0002] With the continuous expansion of robot application fields, more and more robots are out of the isolation room and working in the environment where humans exist, which puts forward high requirements for the safety of robot operation. In order to ensure the safety of human beings, soft robots using serial elastic actuators are coming out continuously. By connecting flexible components such as torsion springs in series between the output end of the motor reducer of the robot joint and the load, the output impedance of the robot is reduced and the safety of the robot is improved. However, the improvement of the flexibility of the robot joints makes the robot vibrate during operation, which greatly reduces the accuracy of the robot's position control. In order to su...

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Problems solved by technology

[0003] The passive damping elastic element generally consists of inner ring, outer ring, baffle and metal rubber pad. The metal rubber pad is installed in the space formed by the inner ring, outer ring and baffle. Rotation, but due to the existence of friction between the inner ring and the outer ring, there is always wear and tear and a certain degree of blockage during rotation. On the one hand, the control accuracy of the robot is affected to a certain extent. On the other hand, it leads to passive Reduced service life of damping elastic elements

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